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A tutorial on visual servo control

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3 Author(s)
Hutchinson, S. ; Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL, USA ; Hager, G.D. ; Corke, P.I.

This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two major classes of systems, position-based and image-based systems, are then discussed in detail. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 5 )